Search Results (17,300)

This paper presents the design and implementation of a SLAM-based online mapping and autonomous trajectory execution system for the Nimbulus-e, a concept vehicle designed for agile maneuvering in confined spaces. The Nimbulus-e uses individual steer-by-wire corner modules with in-wheel motors at all four corners. The associated eight joint variables serve as control inputs, allowing precise trajectory following. These control inputs can be derived from the vehicle’s trajectory using nonholonomic constraints. A LiDAR sensor is used to map the environment and detect obstacles. The system processes LiDAR data in real time, continuously updating the environment map and enabling localization within the environment. The inclusion of vehicle odometry data significantly reduces computation time and improves accuracy compared to a purely visual approach. The A* and Hybrid A* algorithms are used for trajectory planning and optimization, ensuring smooth vehicle movement. The implementation is validated through both full vehicle simulations using an ADAMS Car—MATLABco-simulation and a scaled physical prototype, demonstrating the effectiveness of the system in navigating complex environments. This work contributes to the field of autonomous systems by demonstrating the potential of combining advanced sensor technologies with innovative control algorithms to achieve reliable and efficient navigation. Future developments will focus on improving the robustness of the system by implementing a robust closed-loop controller and exploring additional applications in dense urban traffic and agricultural operations. Full article

Research on commuting patterns has mainly focused on urban and metropolitan areas, and such studies are not typically applied to rural and small-town regions, where workers often face longer commutes due to limited job opportunities and inadequate public transportation. By using the Census Transportation Planning Package (CTPP) data, this research fills that gap by analyzing commuting behavior by ethnic group and industry in south-central Minnesota, which is a predominantly rural area of 13 counties in the United States. The results show that both white and minority groups in District 7 experienced an increase in excess commuting from 2006 to 2016, with the minority group in Nobles County showing a significantly higher rise. Analysis by industry reveals that excess commuting in the leisure and hospitality sector (including arts, entertainment, and food services) in Nobles County increased five-fold during this time, indicating a severe spatial mismatch between jobs and affordable housing. In contrast, manufacturing experienced a decline of 50%, possibly indicating better commuting efficiency or a loss of manufacturing jobs. These findings can help city and transportation planners conduct an in-depth analysis of rural-to-urban commuting patterns and develop potential solutions to improve rural transportation infrastructure and accessibility, such as promoting telecommuting and hybrid work options, expanding shuttle routes, and adding more on-demand transit services in rural areas. Full article

Background: Reverse total shoulder arthroplasty (RTSA) is increasingly used for managing cuff tear arthropathy, osteoarthritis, complex fractures, and revision procedures. As the demand for surgical precision and reproducibility grows, immersive technologies such as virtual reality (VR), augmented reality (AR), and metaverse-based platforms are being explored for surgical training, intraoperative guidance, and rehabilitation. While early data suggest potential benefits, a focused synthesis specific to RTSA is lacking. Methods: This systematic review was conducted in accordance with PRISMA 2020 guidelines. A comprehensive search of PubMed, Scopus, and Cochrane Library databases was performed through 30 May 2025. Eligible studies included those evaluating immersive technologies in the context of RTSA for skill acquisition or intraoperative guidance. Only peer-reviewed articles published in English were included. Data were synthesized narratively due to heterogeneity in study design and outcome metrics. Results: Out of 628 records screened, 21 studies met the inclusion criteria. Five studies evaluated immersive VR for surgical training: four randomized controlled trials and one retrospective case series. VR training improved procedural efficiency and showed non-inferiority to cadaveric training. Sixteen studies investigated intraoperative navigation or AR guidance. Clinical and cadaveric studies consistently reported improved accuracy in glenoid baseplate positioning with reduced angular and linear deviations in postoperative controls as compared to preoperative planning. Conclusions: Immersive technologies show promise in enhancing training, intraoperative accuracy, and procedural consistency in RTSA. VR and AR platforms may support standardized surgical education and precision-based practice, but their broad clinical impact remains limited by small sample sizes, heterogeneous methodologies, and limited long-term outcomes. Further multicenter trials with standardized endpoints and cost-effectiveness analyses are warranted. Postoperative rehabilitation using immersive technologies in RTSA remains underexplored and presents an opportunity for future research. Full article

Caffeine is a widely consumed psychoactive compound known to influence drug metabolism and efficacy through interactions with key enzymes such as cytochrome P450 3A4 (CYP3A4). This study investigates the molecular impact of caffeine on the binding behavior of imatinib, a first-line BCR-ABL tyrosine kinase inhibitor, using molecular docking simulations. Structural optimization and lipophilicity analyses were conducted using HyperChem, while docking was performed with HEX software (Version 8.0.0) against the CYP3A4 receptor (PDB ID: 1W0E). Two administration scenarios were evaluated: concurrent caffeine–imatinib complex formation and sequential administration with caffeine pre-bound to CYP3A4. The caffeine–imatinib complex exhibited a predicted increase in lipophilicity (logP = 3.09) compared to imatinib alone (logP = −1.29), which may indicate the potential for enhanced membrane permeability and tissue distribution. Docking simulations revealed stronger binding affinity of the complex to CYP3A4 (−350.53 kcal/mol) compared to individual compounds, and improved imatinib binding when CYP3A4 was pre-complexed with caffeine (−294.14 kcal/mol vs. −288.19 kcal/mol). Frontier molecular orbital analysis indicated increased reactivity of the complex (ΔE = 7.74 eV), supporting the hypothesis of altered pharmacodynamic behavior. These findings suggest that caffeine may modulate imatinib’s metabolic profile and therapeutic efficacy by enhancing receptor binding and altering drug distribution. The study underscores the importance of evaluating dietary components during drug development and therapeutic planning, particularly for agents metabolized by CYP3A4. Full article

Background: Spinal muscular atrophy (SMA) is a neuromuscular disorder that frequently affects bulbar function, including feeding and swallowing. Although disease-modifying therapies have improved motor outcomes, little is known about the persistence of oromotor difficulties, particularly with regard to solid food intake. Objective: This study aimed to evaluate mastication and swallowing performance in children with SMA undergoing treatment, and to investigate the association between tongue strength and feeding efficiency. Methods: Twenty-two children with SMA types 1–3 were assessed using the Test of Masticating and Swallowing Solids in Children (TOMASS-C) and the Iowa Oral Performance Instrument (IOPI). Key TOMASS-C outcomes included the number of bites, chewing cycles, swallows, and total eating time. Tongue strength was measured in kilopascals. Results: Most participants showed deviations from age-specific normative values in at least one TOMASS-C parameter. Tongue strength was significantly lower than reference values in 86% of participants and correlated negatively with all TOMASS-C outcomes (p < 0.001). Children with weaker tongue pressure required more swallows, more chewing cycles, and longer eating times. Conclusions: Despite pharmacological treatment, children with SMA experience persistent difficulties in eating solid foods. Tongue strength may serve as a non-invasive biomarker for bulbar dysfunction and support dietary decision-making and therapeutic planning. Full article

Carbon flow tracking and spatial pattern optimization at the scale of urban functional zones are key scientific challenges in achieving carbon neutrality. However, due to the complexity of carbon metabolism processes within urban functional zones, related studies remain limited. To address these scientific challenges, this study, based on the “source–sink–flow” ecosystem services framework, develops an integrated analytical approach at the scale of urban functional zones. The carbon balance is quantified using the CASA model in combination with multi-source data. A network model is employed to trace carbon flow pathways, identify critical nodes and interruption points, and optimize the urban spatial pattern through a low-carbon land use structure model. The research results indicate that the overall carbon balance in Hangzhou exhibits a spatial pattern of “deficit in the center and surplus in the periphery.” The main urban area shows a significant carbon deficit and relatively poor connectivity in the carbon flow network. Carbon sequestration services primarily flow from peripheral areas (such as Fuyang and Yuhang) with green spaces and agricultural functional zones toward high-emission residential–commercial and commercial–public functional zones in the central area. However, due to the interruption of multiple carbon flow paths, the overall carbon flow transmission capacity is significantly constrained. Through spatial optimization, some carbon deficit nodes were successfully converted into carbon surplus nodes, and disrupted carbon flow edges were repaired, particularly in the main urban area, where 369 carbon flow edges were restored, resulting in a significant improvement in the overall transmission efficiency of the carbon flow network. The carbon flow visualization and spatial optimization methods proposed in this paper provide a new perspective for urban carbon metabolism analysis and offer theoretical support for low-carbon city planning practices. Full article

This study explores the migration intentions of university students—representing the potential creative class—in Erzurum, a medium-sized city in eastern Turkey experiencing shrinkage. Within the theoretical framework of shrinking cities, it investigates how economic, social, physical, and personal factors influence students’ post-graduation stay or leave decisions. Survey data from 742 Architecture and Fine Arts students at Atatürk University were analyzed using factor analysis, logistic regression, and correlation to identify key migration drivers. Findings reveal that, in addition to economic concerns such as limited job opportunities and low income, personal development opportunities and social engagement also play a decisive role. In particular, the perception of limited chances for skill enhancement and the belief that Erzurum is not a good place to meet people emerged as the strongest predictors of migration intentions. These results suggest that members of the creative class are influenced not only by economic incentives but also by broader urban experiences related to self-growth and social connectivity. This study highlights spatial inequalities in access to cultural, educational, and social infrastructure, raising important questions about spatial justice in shrinking urban contexts. This paper contributes to the literature on shrinking cities by highlighting creative youth in mid-sized Global South cities. It suggests smart shrinkage strategies focused on creative sector development, improved quality of life, and inclusive planning to retain young talent and support sustainable urban revitalization. Full article

Acromegaly is caused by an excessive secretion of growth hormone and the secondary elevation of IGF-1 levels, leading to progressive changes in multiple body systems, including the craniofacial region and oral cavity. Dental manifestations such as mandibular overgrowth, macroglossia, malocclusion, periodontal disease, and prosthetic difficulties represent not only a clinical component of the disease but also a significant therapeutic and diagnostic challenge. The aim of this review is to present the current state of knowledge on the relationship between acromegaly and oral health and to analyze the role of interdisciplinary collaboration between endocrinologists and dentists in patient care. For this narrative review, a literature search was conducted in the PubMed, Scopus, and Web of Science databases covering the period from 2000 to 2025. Sixty-two peer-reviewed publications meeting the methodological and thematic criteria were included in the analysis, including original studies, meta-analyses, systematic reviews, and case reports. The results indicate significant correlations between disease activity and the severity of periodontal and microbiological changes, while effective endocrine treatment only results in the partial regression of morphological changes. Particular attention was given to the role of the dentist in recognizing the early symptoms of the disease, planning prosthetic and surgical treatment, and monitoring therapy-related complications. Interdisciplinary collaboration models, including integrated clinics and co-managed care, were also described as optimal systemic solutions for improving treatment quality. The conclusion drawn from the analysis are as follows: there is a need for the permanent integration of dentistry into the standard of interdisciplinary care for patients with acromegaly, in both diagnostic and therapeutic dimensions. Increasing awareness among dentists and developing integrated collaboration models may reduce the time to diagnosis, improve patients’ quality of life, and enable the more effective management of craniofacial complications in the course of this rare disease. Full article

The detection of seabed boulders is a critical step in mitigating geological hazards during the planning and construction of offshore wind energy infrastructure, as well as in supporting benthic ecological and palaeoglaciological studies. Traditionally, side-scan sonar (SSS) has been favoured for such detection, but the growing availability of high-resolution multibeam echosounder (MBES) data offers a cost-effective alternative. This study presents a semi-automated, hybrid GIS-AI approach that combines bathymetric position index filtering and a Random Forest classifier to detect boulders and delineate boulder fields from MBES data. The method was tested on a 0.24 km² site in Long Island Sound using 0.5 m resolution data, achieving 83% recall, 73% precision, and an F1-score of 77—slightly outperforming the average of expert manual picks while offering a substantial improvement in time-efficiency. The workflow was validated against a consensus-based master dataset and applied across a 79 km² study area, identifying over 75,000 contacts and delineating 89 contact clusters. The method enables objective, reproducible, and scalable boulder detection using only MBES data. Its ability to reduce reliance on SSS surveys while maintaining high accuracy and offering workflow customization makes it valuable for geohazard assessment, benthic habitat mapping, and offshore infrastructure planning. Full article

Amid China’s national strategic prioritization of the Chengdu–Chongqing Economic Circle and accelerated territorial spatial planning, this study deciphered the synergistic evolution of Land Use Intensity (LUI) and Balance Degree of Land Use Structure (BDLUS) during rapid urbanization. Leveraging 1 km grid units and integrating emerging spatiotemporal hotspot analysis, BFAST, and geographic detectors, we systematically analyzed spatiotemporal patterns and drivers of LUI, BDLUS, and their Coupling Coordination Degree (CCD) from 2000 to 2022. Key findings: (1) LUI strongly correlated with economic growth, with core areas reaching high-intensity development (average > 2.96) versus ecologically constrained marginal zones (<2.42), marked by abrupt changes during 2011–2014; (2) BDLUS improvements covered 82.22% of the study area, driven by the Yangtze River Economic Belt strategy (21.96% hotspot concentration), yet structural imbalance persisted in transitional zones (18.81% cold spots); (3) CCD exhibited center-edge dichotomy, contrasting high-value cores (CCD > 0.68) with ecologically sensitive edges (9.80% cold spots), peaking in regulatory shifts around 2010; (4) terrain constraints and intensified human activities (the interaction effect between nighttime lighting and population density increased by 219.49% after 2020) jointly governed coupling mechanisms, with urbanization and industrial transition becoming dominant drivers. This research advances an “intensity–structure–coordination” framework and elucidates “dual-core resonance” dynamics, offering theoretical foundations for spatial optimization and ecological civilization. Full article

Earthquakes, as one of the most destructive natural disasters, often cause significant casualties and severe economic losses. Accurate prediction of earthquake fatalities is of great importance for pre-disaster prevention and mitigation planning, as well as post-disaster emergency response deployment. To address the challenges of small sample sizes, high dimensionality, and strong nonlinearity in earthquake fatality prediction, this paper proposes an integrated modeling approach (PCA-IWOA-XGBoost) combining Principal Component Analysis (PCA), the Improved Whale Optimization Algorithm (IWOA), and Extreme Gradient Boosting (XGBoost). The method first employs PCA to reduce the dimensionality of the influencing factor data, eliminating redundant information and improving modeling efficiency. Subsequently, the IWOA is used to intelligently optimize key hyperparameters of the XGBoost model, enhancing the prediction accuracy and stability. Using 42 major earthquake events in China from 1970 to 2025 as a case study, covering regions including the west (e.g., Tonghai in Yunnan, Wenchuan, Jiuzhaigou), central (e.g., Lushan in Sichuan, Ya’an), east (e.g., Tangshan, Yingkou), north (e.g., Baotou in Inner Mongolia, Helinger), northwest (e.g., Jiashi in Xinjiang, Wushi, Yongdeng in Gansu), and southwest (e.g., Lancang in Yunnan, Lijiang, Ludian), the empirical results showed that the PCA-IWOA-XGBoost model achieved an average test set accuracy of 97.0%, a coefficient of determination (R²) of 0.996, a root mean square error (RMSE) and mean absolute error (MAE) reduced to 4.410 and 3.430, respectively, and a residual prediction deviation (RPD) of 21.090. These results significantly outperformed the baseline XGBoost, PCA-XGBoost, and IWOA-XGBoost models, providing improved technical support for earthquake disaster risk assessment and emergency response. Full article

With deepening global higher education reforms, outcome-based education has emerged as the core paradigm for teaching model innovation. This study investigates the structural dependencies and teaching effectiveness of the Environmental Design curriculum at Hubei Engineering University in medium-sized cities, China, addressing challenges of enrollment decline and market contraction critical for urban sustainability. Using network analysis, we construct curriculum support and contribution networks and course temporal networks to assess structural dependencies and teaching effectiveness, revealing structural patterns and optimizing the OBE-based Environmental Design curriculum to enhance educational quality and student competencies. Analysis reveals computer basic courses as knowledge transmission hubs, creating a course network with a distinct core–periphery structure. Technical course reforms significantly outperform theoretical course reforms in improving student performance metrics, such as higher average scores, better grade distributions, and reduced performance gaps, while innovative practice courses show peripheral isolation patterns, indicating limited connectivity with core curriculum modules, which reduces their educational impact. These findings provide empirical insights for curriculum optimization, supporting urban sustainable development through enhanced professional talent cultivation equipped to address environmental challenges like sustainable design practices and resource-efficient urban planning. Network analysis applications introduce innovative frameworks for curriculum reform strategies. Future research expansion through larger sample validation will support urban sustainable development goals and enhance professional talent cultivation outcomes. Full article

Multi-vessel formation shipping demonstrates significant potential for enhancing maritime transportation efficiency and economy. However, existing route planning systems inadequately address the unique challenges of formations, where traditional methods fail to integrate global optimality, local dynamic obstacle avoidance, and formation coordination into a cohesive system. Global planning often neglects multi-ship collaborative constraints, while local methods disregard vessel maneuvering characteristics and formation stability. This paper proposes GLFM, a three-layer hierarchical framework (global optimization–local adjustment-formation collaboration module) for intelligent route planning of transport ship formations. GLFM integrates an improved multi-objective A* algorithm for global path optimization under dynamic meteorological and oceanographic (METOC) conditions and International Maritime Organization (IMO) safety regulations, with an enhanced Artificial Potential Field (APF) method incorporating ship safety domains for dynamic local obstacle avoidance. Formation, structural stability, and coordination are achieved through an improved leader–follower approach. Simulation results demonstrate that GLFM-generated trajectories significantly outperform conventional routes, reducing average risk level by 38.46% and voyage duration by 12.15%, while maintaining zero speed and period violation rates. Effective obstacle avoidance is achieved, with the leader vessel navigating optimized global waypoints and followers maintaining formation structure. The GLFM framework successfully balances global optimality with local responsiveness, enhances formation transportation efficiency and safety, and provides a comprehensive solution for intelligent route optimization in multi-constrained marine convoy operations. Full article

In China’s Loess Plateau, sustainable agricultural end products are affected by an insufficiency of water resources. Rising crop water use efficiency (WUE) through field management pattern improvement is a crucial plan of action to address this issue. However, there is no agreement among researchers on the most appropriate field management practices regarding WUE, which requires further integrated quantitative analysis. We conducted a meta-analysis by quantifying the effect of agricultural practices surrounding nitrogen (N) fertilizer management. The two experimental cultivars were Yunhan–20410 and Yunhan–618. The subplots included nitrogen 0 kg·ha⁻¹ (N0), 90 kg·ha⁻¹ (N90), 180 kg·ha⁻¹ (N180), 210 kg·ha⁻¹ (N210), and 240 kg·ha⁻¹ (N240). Our results show that higher N rates (up to N210) enhanced water consumption during the node-flowering and flowering-maturity time periods. YH–618 showed higher water use during the sowing–greening and node-flowering periods but decreased use during the greening-node and flowering-maturity periods compared to YH–20410. The N210 treatment under YH–618 maximized water use efficiency (WUE). Increased N rates (N180–N210) decreased covering temperatures (T_max, T_min, T_aver) during flowering, increasing the level of grain filling. Spike numbers rose with N application, with an off-peak at N210 for strong-gluten wheat. The 1000-grain weight was at first enhanced but decreased at the far end of N180–N210. YH–618 with N210 achieved a harvest index (HI) similar to that of YH–20410 with N180, while excessive N (N240) or water reduced the HI. Dry matter accumulation increased up to N210, resulting in earlier stabilization. Soil water consumption from wintering to jointing was strongly correlated with pre-flowering dry matter biological process and yield, while jointing–flowering water use was linked to post-flowering dry matter and spike numbers. Post-flowering dry matter accumulation was critical for yield, whereas spike numbers positively impacted yield but negatively affected 1000-grain weight. In conclusion, our results provide evidence for determining suitable integrated agricultural establishment strategies to ensure efficient water use and sustainable production in the Loess Plateau region. Full article

The Tibetan-Himalayan region, recognized as a global biodiversity hotspot, is increasingly threatened by the dual pressures of climate change and human activities. Understanding the vulnerability of plant species to these forces is crucial for effective ecological conservation in this region. This study employed an improved Climate Niche Factor Analysis (CNFA) framework to assess the vulnerability of six representative alpine endemic herbaceous plants in this ecologically sensitive region under future climate changes. Our results show distinct spatial vulnerability patterns for the six species, with higher vulnerability in the western regions of the Tibetan-Himalayan region and lower vulnerability in the eastern areas. Particularly under high-emission scenarios (SSP5-8.5), climate change is projected to substantially intensify threats to these plant species, reinforcing the imperative for targeted conservation strategies. Additionally, we found that the current coverage of protected areas (PAs) within the species’ habitats was severely insufficient, with less than 25% coverage overall, and it was even lower (<7%) in highly vulnerable regions. Human activity hotspots, such as the regions around Lhasa and Chengdu, further exacerbate species vulnerability. Notably, some species currently classified as least concern (e.g., Stipa purpurea (S. purpurea)) according to the IUCN Red List exhibit higher vulnerability than species listed as near threatened (e.g., Cyananthus microphyllus (C. microphylla)) under future climate change. These findings suggest that existing biodiversity assessments, such as the IUCN Red List, may not adequately account for future climate risks, highlighting the importance of incorporating climate change projections into conservation planning. Our study calls for expanding and optimizing PAs, improving management, and enhancing climate resilience to mitigate biodiversity loss in the face of climate change and human pressures. Full article